The example of train-T1

rl_game/demo/env/t1_env.py

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+from isaaclab.assets import ArticulationCfg, AssetBaseCfg
+from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.utils import configclass
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab import sim as sim_utils
+import os
+
+_DEMO_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
+T1_USD_PATH = os.path.join(_DEMO_DIR, "asset", "t1", "t1_locomotion_physics.usd")
+
+@configclass
+class T1SceneCfg(InteractiveSceneCfg):
+    """T1 机器人的场景配置，包含地面、机器人和光照"""
+
+    # T1 机器人配置
+    # 注意：你需要将 usd_path 替换为你真实的 T1 机器人 USD 文件路径
+    robot = ArticulationCfg(
+        prim_path="{ENV_REGEX_NS}/Robot",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=T1_USD_PATH,
+            activate_contact_sensors=True,
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                disable_gravity=False,
+                retain_accelerations=False,
+                linear_damping=0.0,
+                angular_damping=0.0,
+                max_linear_velocity=1000.0,
+                max_angular_velocity=1000.0,
+                max_depenetration_velocity=1.0,
+            ),
+            articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+                enabled_self_collisions=True,
+                solver_position_iteration_count=4,
+                solver_velocity_iteration_count=0
+            ),
+        ),
+        init_state=ArticulationCfg.InitialStateCfg(
+            pos=(0.0, 0.0, 0.7), # 初始高度，确保机器人双脚着地而非穿模
+            joint_pos={".*": 0.0}, # 所有关节初始角度为 0
+        ),
+        actuators={
+            "legs": ImplicitActuatorCfg(
+                joint_names_expr=[".*"], # 匹配所有关节，也可以指定具体名称如 ["L_Hip.*", "R_Hip.*"]
+                effort_limit=400.0,
+                velocity_limit=10.0,
+                stiffness=85.0, # P 增益
+                damping=2.0,    # D 增益
+            ),
+        },
+    )